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Magnetic positioning method based on spatial multi-point magnetic field intensity information fusion

A technology of magnetic field strength and fusion positioning, applied in the field of magnetic positioning, can solve problems such as poor positioning accuracy of magnetic nail detection, and achieve the effect of good stability

Pending Publication Date: 2021-04-13
QUANZHOU INST OF EQUIP MFG
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Problems solved by technology

The disadvantage of these methods is that only a single magnetic sensor sensor is used, and the positioning accuracy of detecting magnetic nails is poor.

Method used

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  • Magnetic positioning method based on spatial multi-point magnetic field intensity information fusion
  • Magnetic positioning method based on spatial multi-point magnetic field intensity information fusion
  • Magnetic positioning method based on spatial multi-point magnetic field intensity information fusion

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Embodiment Construction

[0027] refer to Figure 1 to Figure 3 As shown, a magnetic positioning method based on information fusion of magnetic field strength at multiple points in space is characterized in that multiple magnetic sensors are used to achieve accurate positioning of magnetic markers, the magnetic markers are magnetic nails, magnetic needles or magnetic blocks, and the magnetic sensors are A magnetometer, magnetometer or Teslameter, including the following steps:

[0028] Step S1, equipment debugging, test the reading of the magnetic sensor is normal, read the magnetic field strength B where the i-th magnetic sensor is located i , i=1,2,3,...,m, then enter step S2;

[0029] Step S2, establish a magnetic dipole model, and measure the coordinates of the i-th magnetic sensor in the global coordinate system {g} Measure the coordinates of the magnetic marker in the local coordinate system {s} where the i-th magnetic sensor is located So as to calculate the coordinates of the magnetic mark...

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Abstract

A magnetic positioning method based on spatial multi-point magnetic field intensity information fusion comprises the following steps: measuring magnetic field intensity information of a plurality of spatial points through a plurality of magnetic sensors arranged at intervals according to a certain distance, and calculating to obtain position information of a magnetic marker through a magnetic field intensity vector of each spatial measurement point; and acquiring mutual confidence factors among the positioning results of the plurality of spatial measurement points to form a confidence matrix so that information fusion among the positioning results of the plurality of spatial measurement points is realized, and performance such as positioning precision, stability and the like can be improved.

Description

technical field [0001] The invention relates to a magnetic positioning method. Background technique [0002] In the fields of space target detection, mobile device navigation, military target positioning, digestive tract medical robots, and computer-aided minimally invasive surgery, high-precision tracking and positioning are required. Magnetic nail positioning has the advantages of small size, stable signal, high precision, low cost, and less susceptible to external interference. For example, the positioning of magnetic nails can be pre-embedded in the planned trajectory to help the robot realize autonomous navigation. [0003] At present, there are many methods for magnetic nail positioning, among which the magnetic nail positioning method with a single magnetic sensor is widely used. For example, Chinese patent document CN107091606A discloses a magnetic nail positioning method based on a magnetic ruler, and the magnetic nails are packaged into a magnetic ruler. For exam...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01R33/02
CPCG01C21/20G01R33/02
Inventor 戴厚德赵四林姚瀚晨朱利琦赵冉苏诗荐董丽菲刘鹏华郭鹏飞
Owner QUANZHOU INST OF EQUIP MFG
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